mirror of https://github.com/ArduPilot/ardupilot
609 lines
10 KiB
Markdown
609 lines
10 KiB
Markdown
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# VUAV-V7pro Flight Controller
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The VUAV-V7pro flight controller is manufactured and sold by [VIEWPRO](http://www.viewprotech.com/).
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## Features
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- STM32H743 microcontroller
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- Three IMUs: ADIS16470,ICM42688,ICM42688
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- Internal vibration isolation for IMUs
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- Internal RM3100 SPI magnetometer
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- Internal two MS5611 SPI barometer
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- Internal RGB LED
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- MicroSD card slot port
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- 1 Analog power port
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- 1 CAN power port
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- 5 UARTs and 1 USB ports
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- 1 RS232 port
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- 14 PWM output ports
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- 4 I2C and 2 CAN ports
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- Safety switch port
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- Buzzer port
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- RC IN port
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## Pinout
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## UART Mapping
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- SERIAL0 -> USB
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- SERIAL1 -> UART2 (Telem1) (DMA enabled)
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- SERIAL2 -> UART6 (Telem2) (DMA enabled)
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- SERIAL3 -> UART1 (GPS1)
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- SERIAL4 -> UART3 (GPS2)
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- SERIAL5 -> UART8 (USER) TX only on pin, RX is tied to RCIN
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- SERIAL6 -> UART4 (RS232)
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- SERIAL7 -> USB2 (virtual port on same connector)
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- SERIAL8 -> UART7 (DEBUG)
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The Telem1,Telem2 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
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## Connectors
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### TELEM1 ,TELEM2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>CTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>RTS</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS1/I2C4 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL I2C4</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA I2C4</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>6</td>
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<td>SafetyButton</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>7</td>
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<td>SafetyLED</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>8</td>
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<td>-</td>
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<td>-</td>
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</tr>
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<tr>
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<td>9</td>
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<td>Buzzer</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>10</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### GPS2/I2C3 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SCL I2C3</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SDA I2C3</td>
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<td>+3.3V (pullups)</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### CAN1,CAN2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>CAN_H</td>
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<td>+24V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>CAN_L</td>
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<td>+24V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### I2C1,I2C2 port
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>SCL</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>3</td>
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<td>SDA</td>
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<td>+3.3 (pullups)</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### USB Ex
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC IN</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>D_minus</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>D_plus</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### RSSI
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>RSSI</td>
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<td>up to +3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>UART8_TX (OUT)</td>
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<td>+3.3</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### RS232
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### DEBUG
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin </th>
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<th>Signal </th>
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<th>Volt </th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>TX (OUT)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>3</td>
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<td>RX (IN)</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>4</td>
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<td>SWDIO</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>5</td>
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<td>SWCLK</td>
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<td>+3.3V</td>
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</tr>
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<tr>
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<td>6</td>
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<td>GND</td>
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<td>GND</td>
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</tr>
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</tbody>
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</table>
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### ADC
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<table border="1" class="docutils">
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<tbody>
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<tr>
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<th>Pin</th>
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<th>Signal</th>
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<th>Volt</th>
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</tr>
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<tr>
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<td>1</td>
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<td>VCC</td>
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<td>+5V</td>
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</tr>
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<tr>
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<td>2</td>
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<td>ADC_3V3</td>
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<td>up to +3.3V</td>
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</tr>
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||
|
|
<tr>
|
||
|
|
<td>3</td>
|
||
|
|
<td>ADC_6V6</td>
|
||
|
|
<td>up to +6.6V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>4</td>
|
||
|
|
<td>GND</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
|
||
|
|
### POWER1
|
||
|
|
|
||
|
|
<table border="1" class="docutils">
|
||
|
|
<tbody>
|
||
|
|
<tr>
|
||
|
|
<th>Pin</th>
|
||
|
|
<th>Signal</th>
|
||
|
|
<th>Volt</th>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>1</td>
|
||
|
|
<td>VCC IN</td>
|
||
|
|
<td>+5V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>2</td>
|
||
|
|
<td>VCC IN</td>
|
||
|
|
<td>+5V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>3</td>
|
||
|
|
<td>CURRENT</td>
|
||
|
|
<td>up to +3.3V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>4</td>
|
||
|
|
<td>VOLTAGE</td>
|
||
|
|
<td>up to +3.3V</td>
|
||
|
|
</tr>
|
||
|
|
<td>5</td>
|
||
|
|
<td>GND</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
<td>6</td>
|
||
|
|
<td>GND</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
|
||
|
|
### POWER2(CAN1)
|
||
|
|
|
||
|
|
<table border="1" class="docutils">
|
||
|
|
<tbody>
|
||
|
|
<tr>
|
||
|
|
<th>Pin</th>
|
||
|
|
<th>Signal</th>
|
||
|
|
<th>Volt</th>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>1</td>
|
||
|
|
<td>VCC IN</td>
|
||
|
|
<td>+5V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>2</td>
|
||
|
|
<td>VCC IN</td>
|
||
|
|
<td>+5V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>3</td>
|
||
|
|
<td>CAN1_H</td>
|
||
|
|
<td>+24V</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>4</td>
|
||
|
|
<td>CAN1_L</td>
|
||
|
|
<td>+24V</td>
|
||
|
|
</tr>
|
||
|
|
<td>5</td>
|
||
|
|
<td>GND</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
<td>6</td>
|
||
|
|
<td>GND</td>
|
||
|
|
<td>GND</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
|
||
|
|
## RC Input
|
||
|
|
|
||
|
|
RC input is configured on the RCIN pin, at one end of the servo rail. This pin supports all unidirectional RC protocols. For bi-directional protocols, such as CRSF/ELRS, UART8 can be set to protocol "23" and the reciever tied to RCIN (shared with UART8 RX) and UART8 TX. In this case, the RC_PROTOCOLS parameter should be set to the expected protocol type to avoid accidental erroneous detection by the RCIN path.
|
||
|
|
|
||
|
|
## PWM Output
|
||
|
|
|
||
|
|
The VUAV-V7pro supports up to 14 PWM outputs,support all PWM protocols. Outputs 1-12 support DShot. Outputs 1-8 support bi-directional Dshot. All 14 PWM outputs have GND on the top row, 5V on the middle row and signal on the bottom row.
|
||
|
|
|
||
|
|
The 14 PWM outputs are in 4 groups:
|
||
|
|
|
||
|
|
- PWM 1, 2, 3 and 4 in group1
|
||
|
|
- PWM 5, 6, 7 and 8 in group2
|
||
|
|
- PWM 9, 10, 11 and 12 in group3
|
||
|
|
- PWM 13, 14 in group4
|
||
|
|
|
||
|
|
Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
|
||
|
|
|
||
|
|
## GPIOs
|
||
|
|
|
||
|
|
All 14 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
|
||
|
|
The pin numbers for these PWM channels in ArduPilot are shown below:
|
||
|
|
|
||
|
|
<table border="1" class="docutils">
|
||
|
|
<tbody>
|
||
|
|
<tr>
|
||
|
|
<th>PWM Channels</th>
|
||
|
|
<th>Pin</th>
|
||
|
|
<th>PWM Channels</th>
|
||
|
|
<th>Pin</th>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM1</td>
|
||
|
|
<td>50</td>
|
||
|
|
<td>PWM8</td>
|
||
|
|
<td>57</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM2</td>
|
||
|
|
<td>51</td>
|
||
|
|
<td>PWM9</td>
|
||
|
|
<td>58</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM3</td>
|
||
|
|
<td>52</td>
|
||
|
|
<td>PWM10</td>
|
||
|
|
<td>59</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM4</td>
|
||
|
|
<td>53</td>
|
||
|
|
<td>PWM11</td>
|
||
|
|
<td>60</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM5</td>
|
||
|
|
<td>54</td>
|
||
|
|
<td>PWM12</td>
|
||
|
|
<td>61</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM6</td>
|
||
|
|
<td>55</td>
|
||
|
|
<td>PWM13</td>
|
||
|
|
<td>62</td>
|
||
|
|
</tr>
|
||
|
|
<tr>
|
||
|
|
<td>PWM7</td>
|
||
|
|
<td>56</td>
|
||
|
|
<td>PWM14</td>
|
||
|
|
<td>63</td>
|
||
|
|
</tr>
|
||
|
|
</tbody>
|
||
|
|
</table>
|
||
|
|
|
||
|
|
## Analog inputs
|
||
|
|
|
||
|
|
The VUAV-V7pro flight controller has 5 Analog inputs
|
||
|
|
|
||
|
|
- ADC Pin2-> Battery Current
|
||
|
|
- ADC Pin16 -> Battery Voltage
|
||
|
|
- ADC Pin19 -> ADC 3V3 Sense
|
||
|
|
- ADC Pin3 -> ADC 6V6 Sense
|
||
|
|
- ADC Pin9 -> RSSI voltage monitoring
|
||
|
|
|
||
|
|
## Battery Monitor Configuration
|
||
|
|
|
||
|
|
The board has voltage and current inputs sensor on the POWER1 ADC and POWER2 CAN connector.
|
||
|
|
|
||
|
|
The correct battery setting parameters are:
|
||
|
|
|
||
|
|
Enable Battery1 monitor:
|
||
|
|
- BATT_MONITOR 4
|
||
|
|
- BATT_VOLT_PIN 16
|
||
|
|
- BATT_CUR_PIN 2
|
||
|
|
- BATT_VOLT_MULT 15.7 (may need adjustment if supplied monitor is not used)
|
||
|
|
- BATT_AMP_PERVLT 60.61 (may need adjustment if supplied monitor is not used)
|
||
|
|
|
||
|
|
Enable Battery2 monitor (if used):
|
||
|
|
- BATT2_MONITOR 8
|
||
|
|
|
||
|
|
## Loading Firmware
|
||
|
|
|
||
|
|
The VUAV-V7pro flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of \*.apj firmware files with any ArduPilot compatible ground station.
|